Methods, systems, and computer-readable media that implement autonomous seagoing power replenishment watercraft. An example system includes a plurality of marine vessels; a plurality of watercraft, each watercraft of the plurality of watercraft including a rechargeable electrical power supply and being configured to operate in: a first mode in which the watercraft awaits an assignment to provide electrical energy to a marine vessel of the plurality of marine vessels; a second mode in which the watercraft performs operations including keeping station with an assigned marine vessel and providing electrical energy to the assigned marine vessel from the power supply; and a third mode in which the watercraft recharges the power supply from a charging station. The system includes a controller configured to perform operations comprising: transmitting, to a first watercraft, an instruction indicating an assignment of the first watercraft to provide electrical energy to a first marine vessel.

A marine battery pack including a battery enclosure having an exterior and an interior defining a cavity, wherein the battery enclosure is configured to protect against water ingress into the cavity. The marine battery pack further comprises a plurality of cell modules within the cavity, each including a plurality of battery cells, and at least one exterior sensor on the battery enclosure configured to sense at least one of an exterior temperature, an exterior pressure, and a presence of water on the exterior of the battery enclosure. A controller is configured to identify a water exposure event based on the at least one of the exterior temperature, the exterior pressure, and the presence of water on the exterior of the battery enclosure. A water exposure response is then generated.

A marine battery pack including a battery enclosure having an exterior and an interior defining a cavity, wherein the battery enclosure is configured to protect against water ingress into the cavity. The marine battery pack further comprises a plurality of cell modules within the cavity, each including a plurality of battery cells, and at least one exterior sensor on the battery enclosure configured to sense at least one of an exterior temperature, an exterior pressure, and a presence of water on the exterior of the battery enclosure. A controller is configured to identify a water exposure event based on the at least one of the exterior temperature, the exterior pressure, and the presence of water on the exterior of the battery enclosure. A water exposure response is then generated.

A watercraft running system includes a propulsion device, a steering device, a course changing operator, a port-side attitude control plate and a starboard-side attitude control plate, a port-side actuator and a starboard-side actuator, and a controller. The controller is operable in a first control mode in which the steering device is controlled according to the operation of the course changing operator and a second control mode in which the port-side actuator and the starboard-side actuator are controlled according to the operation of the course changing operator. The controller is configured or programmed to prohibit shifting from the first control mode to the second control mode if the steering position of the steering device is not a neutral position, and to permit the shift from the first control mode to the second control mode if the steering position is the neutral position.

A watercraft running system includes a propulsion device, a steering device, a course changing operator, a port-side attitude control plate and a starboard-side attitude control plate, a port-side actuator and a starboard-side actuator, and a controller. The controller is operable in a first control mode in which the steering device is controlled according to the operation of the course changing operator and a second control mode in which the port-side actuator and the starboard-side actuator are controlled according to the operation of the course changing operator. The controller is configured or programmed to prohibit shifting from the first control mode to the second control mode if the steering position of the steering device is not a neutral position, and to permit the shift from the first control mode to the second control mode if the steering position is the neutral position.

A system and a method produce electrical power for ship propulsion. Power and fuel modules are configured for modular use during travel. The power and fuel modules may be standard freight size containers so that the amount of fuel and power for a trip may be adjusted based on the needs of the trip. A control system may be automated to control loading and unloading of fuel or power modules into the power distribution system, connection or disconnection of fuel or power modules, and adjust distribution of power to the ship's electrical grid based on consumption demands.

A system and a method produce electrical power for ship propulsion. Power and fuel modules are configured for modular use during travel. The power and fuel modules may be standard freight size containers so that the amount of fuel and power for a trip may be adjusted based on the needs of the trip. A control system may be automated to control loading and unloading of fuel or power modules into the power distribution system, connection or disconnection of fuel or power modules, and adjust distribution of power to the ship's electrical grid based on consumption demands.

An anchor installation vehicle that includes a vehicle frame having a top end and bottom end, one or more rotational thrusters, and an anchor system configured to hold an anchor extending from the bottom end of the vehicle frame.

An anchor installation vehicle that includes a vehicle frame having a top end and bottom end, one or more rotational thrusters, and an anchor system configured to hold an anchor extending from the bottom end of the vehicle frame.

To improve prediction accuracy in model predictive control.

The ship control device includes processing circuitry. The processing circuitry estimates an initial search value of a throttle opening by an estimation method based on uncertainty with a distance between a position of the ship and a target position of dynamic positioning, and a true wind velocity as preconditions. The processing circuitry searches an action for moving the ship to the target position by a model predictive control in a search range having the initial search value as an origin, and determines a command throttle opening based on the search result.